Merry Christmas Community.
As a Christmas present for the community, here is an open-source implementation of the Stretch robot in Gazebo Sim (the new simulator). After several failed attempts to migrate the stretch robot into Gazebo Classic, a different approach has been taken. Given the EOL of Gazebo Classic, the robot has been migrated into Gazebo Sim Harmonic. Within our implementation, the meshes of the real sense camera are not used for faster computation, although the camera sensor is enabled, including point could and RGB camera. The robot is fully functional. Please report any errors or bugs as issues within GitHub. Feel free to contact me or send a message through this thread for further discussion.
The code has been made available for anyone to use:
To Hello-Robot: If this interests you, I am more than welcome to help develop an official repo of the stretch_gz_sim package.